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<a href="timeutil_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_TIMEUTIL_H</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define G2O_TIMEUTIL_H</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#ifdef _WINDOWS</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &lt;time.h&gt;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#include &lt;sys/time.h&gt;</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="comment">// @{</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#ifndef DO_EVERY_TS</span></div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="group__utils.html#ga9b9f34c01b03b47644c2762bf256be32">   49</a></span>&#160;<span class="preprocessor">#define DO_EVERY_TS(secs, currentTime, code) \</span></div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">if (1) {\</span></div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">  static double s_lastDone_ = (currentTime); \</span></div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">  double s_now_ = (currentTime); \</span></div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">  if (s_lastDone_ &gt; s_now_) \</span></div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">    s_lastDone_ = s_now_; \</span></div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="preprocessor">  if (s_now_ - s_lastDone_ &gt; (secs)) { \</span></div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="preprocessor">    code; \</span></div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="preprocessor">    s_lastDone_ = s_now_; \</span></div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="preprocessor">  }\</span></div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="preprocessor">} else \</span></div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="preprocessor">  (void)0</span></div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="preprocessor">#ifndef DO_EVERY</span></div><div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="group__utils.html#gabfe958da8833edbe74250507adc61635">   65</a></span>&#160;<span class="preprocessor">#define DO_EVERY(secs, code) DO_EVERY_TS(secs, g2o::get_time(), code)</span></div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="preprocessor">#ifndef MEASURE_TIME</span></div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="group__utils.html#gaafc27d8d00ac925dce6e52a013cc2b32">   69</a></span>&#160;<span class="preprocessor">#define MEASURE_TIME(text, code) \</span></div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="preprocessor">  if(1) { \</span></div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="preprocessor">    double _start_time_ = g2o::get_time(); \</span></div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="preprocessor">    code; \</span></div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="preprocessor">    fprintf(stderr, &quot;%s took %f sec\n&quot;, text, g2o::get_time() - _start_time_); \</span></div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="preprocessor">  } else \</span></div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="preprocessor">    (void) 0</span></div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="preprocessor">#ifdef _WINDOWS</span></div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct </span>timeval {</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keywordtype">long</span> tv_sec;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keywordtype">long</span> tv_usec;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;} timeval;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; <span class="keywordtype">int</span> gettimeofday(<span class="keyword">struct</span> timeval *tv, <span class="keyword">struct</span> timezone *tz);</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="namespaceg2o.html#a6baa8fdfd973b5b970df14f14fd5d844">   91</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="namespaceg2o.html#a6baa8fdfd973b5b970df14f14fd5d844">get_time</a>() </div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;{</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="keyword">struct </span>timeval ts;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  gettimeofday(&amp;ts,0);</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keywordflow">return</span> ts.tv_sec + ts.tv_usec*1e-6;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;}</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; <span class="keywordtype">double</span> <a class="code" href="namespaceg2o.html#aa64237935c7d8411b4369234a5f661ea">get_monotonic_time</a>();</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;</div><div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classg2o_1_1_scope_time.html">  114</a></span>&#160;<span class="keyword">class  </span><a class="code" href="classg2o_1_1_scope_time.html">ScopeTime</a> {</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="keyword">public</span>: </div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <a class="code" href="classg2o_1_1_scope_time.html">ScopeTime</a>(<span class="keyword">const</span> <span class="keywordtype">char</span>* title);</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    ~<a class="code" href="classg2o_1_1_scope_time.html">ScopeTime</a>();</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <span class="keyword">private</span>:</div><div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classg2o_1_1_scope_time.html#a6ee3cc8fa420b9963ad5198212c4a8b9">  119</a></span>&#160;    std::string <a class="code" href="classg2o_1_1_scope_time.html#a6ee3cc8fa420b9963ad5198212c4a8b9">_title</a>;</div><div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classg2o_1_1_scope_time.html#ac9bcaa9a2dfbe09b98de1e7dd664433f">  120</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="classg2o_1_1_scope_time.html#ac9bcaa9a2dfbe09b98de1e7dd664433f">_startTime</a>;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;};</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;} <span class="comment">// end namespace</span></div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;<span class="preprocessor">#ifndef MEASURE_FUNCTION_TIME</span></div><div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="group__utils.html#gae79acf8eb730f80c029d60e19332b4b9">  126</a></span>&#160;<span class="preprocessor">#define MEASURE_FUNCTION_TIME \</span></div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;<span class="preprocessor">  g2o::ScopeTime scopeTime(__PRETTY_FUNCTION__)</span></div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;<span class="comment">// @}</span></div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="namespaceg2o_html_aa64237935c7d8411b4369234a5f661ea"><div class="ttname"><a href="namespaceg2o.html#aa64237935c7d8411b4369234a5f661ea">g2o::get_monotonic_time</a></div><div class="ttdeci">double get_monotonic_time()</div><div class="ttdoc">return a monotonic increasing time which basically does not need to have a reference point...</div><div class="ttdef"><b>Definition:</b> timeutil.cpp:113</div></div>
<div class="ttc" id="classg2o_1_1_scope_time_html_ac9bcaa9a2dfbe09b98de1e7dd664433f"><div class="ttname"><a href="classg2o_1_1_scope_time.html#ac9bcaa9a2dfbe09b98de1e7dd664433f">g2o::ScopeTime::_startTime</a></div><div class="ttdeci">double _startTime</div><div class="ttdef"><b>Definition:</b> timeutil.h:120</div></div>
<div class="ttc" id="classg2o_1_1_scope_time_html"><div class="ttname"><a href="classg2o_1_1_scope_time.html">g2o::ScopeTime</a></div><div class="ttdoc">Class to measure the time spent in a scope. </div><div class="ttdef"><b>Definition:</b> timeutil.h:114</div></div>
<div class="ttc" id="namespaceg2o_html_a6baa8fdfd973b5b970df14f14fd5d844"><div class="ttname"><a href="namespaceg2o.html#a6baa8fdfd973b5b970df14f14fd5d844">g2o::get_time</a></div><div class="ttdeci">double get_time()</div><div class="ttdoc">return the current time in seconds since 1. </div><div class="ttdef"><b>Definition:</b> timeutil.h:91</div></div>
<div class="ttc" id="classg2o_1_1_scope_time_html_a6ee3cc8fa420b9963ad5198212c4a8b9"><div class="ttname"><a href="classg2o_1_1_scope_time.html#a6ee3cc8fa420b9963ad5198212c4a8b9">g2o::ScopeTime::_title</a></div><div class="ttdeci">std::string _title</div><div class="ttdef"><b>Definition:</b> timeutil.h:119</div></div>
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